US11766240B2 - Transrectal ultrasonic probe - Google Patents
Transrectal ultrasonic probe Download PDFInfo
- Publication number
- US11766240B2 US11766240B2 US17/191,831 US202117191831A US11766240B2 US 11766240 B2 US11766240 B2 US 11766240B2 US 202117191831 A US202117191831 A US 202117191831A US 11766240 B2 US11766240 B2 US 11766240B2
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- United States
- Prior art keywords
- shaft
- ultrasonic
- transrectal
- extension direction
- probe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 239000000523 sample Substances 0.000 title claims abstract description 59
- 238000003780 insertion Methods 0.000 claims abstract description 77
- 230000037431 insertion Effects 0.000 claims abstract description 77
- 210000000664 rectum Anatomy 0.000 claims abstract description 36
- 230000005540 biological transmission Effects 0.000 description 17
- 210000002307 prostate Anatomy 0.000 description 8
- 230000005855 radiation Effects 0.000 description 8
- 239000011347 resin Substances 0.000 description 8
- 229920005989 resin Polymers 0.000 description 8
- 238000002604 ultrasonography Methods 0.000 description 3
- 210000000436 anus Anatomy 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009545 invasion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/445—Details of catheter construction
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
- A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
- A61B8/4455—Features of the external shape of the probe, e.g. ergonomic aspects
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
Definitions
- This description discloses a transrectal ultrasonic probe.
- An ultrasonic probe transmits and receives ultrasonic waves to and from a subject.
- the ultrasonic probe is connected to an ultrasonic diagnostic apparatus body (hereinafter referred to as “apparatus body”), transmits ultrasonic waves to the subject according to signals from the apparatus body, and transmits to the apparatus body electric signals responsive to reflected waves from the subject.
- apparatus body forms and displays ultrasonic images based on the electric signals from the ultrasonic probe.
- ultrasonic probes there are various types of ultrasonic probes.
- in-body cavity ultrasonic probe a part of which is inserted into the body cavity of a subject and irradiates the test site with ultrasonic waves from the inside of the body cavity.
- in-body cavity ultrasonic probes include transrectal ultrasonic probes that are inserted into the rectum of a subject.
- Transrectal ultrasound probes are often used in the case where the test site is a prostate.
- JP 2015-104602 A discloses a transrectal ultrasonic probe in which the insertion unit to be inserted into the rectum is curved so that the ultrasonic radiation plane coincides with the section in a CT or MRI image without largely tilting the transrectal ultrasonic probe inserted in the rectum, and the probe includes an ultrasonic oscillator that transmits ultrasonic waves in the direction in which the tip of the curved insertion unit extends.
- the transrectal ultrasonic probe according to JP 2015-104602 A reduces the burden on the subject when the ultrasonic radiation plane is made to coincide with the section in a CT or MRI image.
- a transrectal ultrasonic probe inserted into the rectum of a subject may impose a burden (for example, pain) on the subject. It is therefore desirable to reduce the burden on the subject when the transrectal ultrasonic probe is inserted into the rectum. Reducing the burden on the subject when the transrectal ultrasound probe is inserted into the rectum also facilitates insertion of the transrectal ultrasonic probe into the rectum of the subject, from the perspective of an operator, such as a doctor, who inserts the transrectal ultrasound probe into the rectum of the subject.
- transrectal ultrasonic probe disclosed in this description it is an advantage of a transrectal ultrasonic probe disclosed in this description to be a transrectal ultrasonic probe that reduces the burden of a subject when inserted into the rectum of the subject.
- a transrectal ultrasonic probe disclosed in this description it is an advantage of a transrectal ultrasonic probe disclosed in this description to be a transrectal ultrasonic probe that can more easily be inserted into the rectum of the subject.
- a transrectal ultrasonic probe includes an insertion unit in a slim shape to be inserted into the rectum of a subject, the insertion unit comprising:
- an ultrasonic oscillator that transmits ultrasonic waves laterally to the insertion unit; and a shaft in a slim shape that is closer to the proximal side than the ultrasonic oscillator, and has an extension direction from the proximal side toward the distal side, the extension direction curving in the direction opposite to the direction in which the ultrasonic oscillator transmits the ultrasonic waves.
- the transrectal ultrasonic probe can reduce the burden of a subject when inserted into the rectum of the subject.
- the transrectal ultrasonic probe can be more easily inserted into the rectum of the subject.
- FIG. 1 is an external perspective view of a probe according to an embodiment
- FIG. 2 is a side view of the probe according to the embodiment
- FIG. 3 is an enlarged side view of an insertion unit
- FIG. 4 is a sagittal section view of a rectum.
- FIG. 1 is an external perspective view of a probe 10 according to this embodiment
- FIG. 2 is a side view of the probe 10
- the probe 10 is a transrectal ultrasonic probe, a part of which is configured to be inserted into the rectum of a subject and transmit ultrasonic waves from the rectum to the test site and receive ultrasonic waves from the test site at the rectum.
- the test site is a prostate and the probe 10 can transmit ultrasonic waves from the rectum to the prostate and receive ultrasonic waves from the prostate at the rectum.
- the entire probe 10 has a slim shape.
- the X axis represents the longitudinal direction of the probe 10 (the direction in which it extends (particularly, the direction in which the grip unit 14 described later extends)), the Y axis represents the lateral direction of the probe 10 , and the Z axis represents the height direction.
- “front” refers to the positive side with respect to the direction of the X axis
- “rear” refers to the negative side with respect to the direction of the X axis
- “up” refers to the positive side with respect to the direction of the Z axis
- “down” refers to the negative side with respect to the direction of the Z axis.
- the probe 10 is connected to an apparatus body (not shown in the drawing) through a probe cable (not shown in the drawing). Note that the probe 10 may be wirelessly connected to the apparatus body so that it can communicate with the apparatus body.
- the probe 10 transmits ultrasonic waves to the subject according to signals from the apparatus body, and transmits to the apparatus body electric signals responsive to the reflected waves from the subject.
- the apparatus body forms ultrasonic images based on the electric signals from the ultrasonic probe and displays the formed ultrasonic images on a display provided to the apparatus body.
- the probe 10 includes an insertion unit 12 inserted into the rectum of the subject, and a grip unit 14 gripped by an operator such as a doctor.
- the insertion unit 12 side of the probe 10 is referred to as the “distal” side
- the grip unit 14 side is referred to as the “proximal” side.
- the insertion unit 12 has a slim shape and extends generally in the direction of the X axis (front-rear direction).
- the grip unit 14 also has a slim shape and extends in the direction of the X axis (front-rear direction).
- the insertion unit 12 is made thin for ease of insertion into the rectum, and the grip unit 14 is made thicker than the insertion unit 12 for ease of gripping by the operator.
- a probe cable extends from the proximal end of the grip unit 14 toward the apparatus body.
- the insertion unit 12 has an insertion tip portion 20 at the tip, and a shaft 22 that is closer to the proximal side than the insertion tip portion 20 and connects the insertion tip portion 20 and the grip unit 14 together.
- the insertion tip portion 20 is connected to the distal end of the shaft 22 .
- the insertion tip portion 20 has a slim shape that extends in one direction.
- the insertion tip portion 20 has an acoustic head 24 .
- the acoustic head 24 has an ultrasonic oscillator that transmits ultrasonic waves to the test site.
- the acoustic head 24 has an oscillator array of aligned ultrasonic oscillators.
- the oscillator array converts, according to a signal from the apparatus body, the signal into ultrasonic waves, transmits the signal to the outside of the acoustic head 24 ; that is, the test site, receives the reflected waves from the test site, and converts the reflected waves to an electrical signal.
- the insertion tip portion 20 has two acoustic heads 24 A and 24 B.
- the two acoustic heads 24 A and 24 B are aligned in the direction of the X axis, the acoustic head 24 A is provided on the distal side, and the acoustic head 24 B is provided on the proximal side.
- the directions in which the ultrasonic waves are transmitted from the acoustic heads 24 A and 24 B, respectively, are parallel to each other, but the plane of ultrasonic radiation from the acoustic head 24 A and the plane of ultrasonic radiation from the acoustic head 24 B are orthogonal to each other.
- the ultrasonic radiation plane from the acoustic head 24 A is parallel to the XZ plane
- the ultrasonic radiation plane from the acoustic head 24 B is orthogonal to the XZ plane. Since the probe 10 has two acoustic heads 24 A and 24 B, ultrasonic images of two surfaces related to the test site (prostate in this embodiment) can be captured. This allows the operator to easily grasp the test site in three dimensions.
- the shaft 22 has a slim and generally tubular shape. As will be described later in detail, the shaft 22 is curved to reduce the burden on the subject during insertion into the rectum of the subject. The details of the curved shape of the shaft 22 will be described later.
- the shaft 22 has a notch that is largely notched in the X axis.
- a puncture attachment 26 is attached to (fitted in) the notch.
- the puncture attachment 26 is a disposable member (single-use member) and is specifically detachably attached to the shaft 22 .
- the puncture attachment 26 includes a cover 30 .
- the shaft 22 and the puncture attachment 26 form a generally cylindrical shape together.
- the cover 30 has a curved shape and, in the attached state, the outer surface of the shaft 22 and the outer surface of the cover 30 are substantially flush with each other, so that the overall cover 30 has a generally cylindrical shape.
- no protrusion is formed sideward from the shaft 22 . This facilitates insertion of the shaft 22 into the rectum of the subject and suppresses the invasion of the subject.
- the puncture attachment 26 includes a plurality of members that are generally situated within the cover 30 in the attached state.
- the attached state is maintained by an attachment lock 32 provided on the proximal side from the shaft 22 .
- the puncture attachment 26 includes a needle 34 and a needle guide member 36 .
- the needle 34 is inserted into the test site by operator's operation for the purpose of collecting tissue of the test site, injecting a drug into the test site, or treating the test site.
- the needle 34 is made of a metal such as stainless steel.
- the needle guide member 36 generally has a slim shape and is provided so as to extend in the X axis direction with a slight inclination so that its proximal end is lower than its distal end.
- the distal end of the needle guide member 36 is fixed within the cover 30 of the shaft 22 , and the distal portion of the needle guide member 36 is situated within the cover 30 .
- a notch for passing the needle guide member 36 is provided in a lower portion of the cover 30 , and the proximal portion of the needle guide member 36 extends out downward from around the proximal end of the shaft 22 toward the distal side.
- the proximal end of the needle guide member 36 reaches the lower part of the grip unit 14 .
- the proximal portion of the needle guide member 36 is not inserted into the rectum of the subject.
- the needle guide member 36 has a straight tubular shape and includes an insertion member 38 through which the needle 34 is inserted, and a resin member 40 that supports the insertion member 38 .
- the insertion member 38 and the resin member 40 are bonded to each other.
- the insertion member 38 defines the puncture route of the needle 34 , and is made of a highly rigid member, for example, a metal such as stainless steel.
- the needle 34 is inserted into the insertion member 38 from the proximal end 38 a of the insertion member 38 , and goes out toward the distal side from the distal end 38 b of the insertion member 38 . Since the insertion member 38 has a straight tubular shape and is a highly rigid member, bending of the needle 34 passing therethrough is suppressed.
- the resin member 40 is a member having lower rigidity than the insertion member 38 and composed of, for example, a resin such as plastic. As will be described later, the needle guide member 36 is operated by the operator, and the resin member 40 is a portion gripped by the operator during operation.
- the distal end of the needle guide member 36 is locked with a guide shaft 42 extending in the lateral direction of the shaft 22 (that is, the direction of the Y axis).
- the needle guide member 36 is attached to the shaft 22 rotatably about the guide shaft 42 in the XZ plane.
- rotation of the needle guide member 36 causes the insertion member 38 and the resin member 40 to rotate together about the guide shaft 42 .
- Rotation of the insertion member 38 changes the inclination of the insertion member 38 in the XZ plane. Accordingly, the insertion direction of the needle 34 is changed.
- the needle guide member 36 is rotated by the operator.
- the operator can change the insertion direction of the needle 34 by rotating the needle guide member 36 .
- the straight tubular insertion member 38 rotates with the rotation of the needle guide member 36 . This means that the entire puncture route of the needle 34 is rotated, so that the operator can puncture the test site without bending the needle 34 .
- the puncture attachment 26 may have a locking mechanism that restricts the rotation of the needle guide member 36 and locks the insertion direction of the needle 34 .
- the locking mechanism can lock the needle guide member 36 in any of a plurality of predetermined locking positions (a plurality of inclinations of the needle guide member 36 ).
- the locking mechanism can restrict the rotation of the needle guide member 36 so that the insertion direction of the needle 34 becomes any one of the plurality of predetermined insertion directions.
- a guide holding member 44 that restricts the rotation of the needle guide member 36 is provided as a locking mechanism.
- the guide holding member 44 laterally holds the resin member 40 of the needle guide member 36 , thereby restricting the rotation of the needle guide member 36 .
- the guide holding member 44 is movable along the direction in which the shaft 22 extends and can be locked in any of the plurality of predetermined positions.
- the needle guide member 36 can be locked in one of the plurality of predetermined locking positions when the guide holding member 44 holds the needle guide member 36 in the position.
- the rotation of the needle guide member 36 can change the insertion direction of the needle 34 as described above in this embodiment, the insertion direction of the needle 34 is not necessarily changeable and it may be inserted in a predetermined insertion direction.
- FIG. 3 is an enlarged side view of the insertion unit 12 .
- the details of the shape of the insertion unit 12 will be described with reference to FIG. 3 .
- the ultrasonic wave transmission direction DA from the acoustic head 24 A and the ultrasonic wave transmission direction DB from the acoustic head 24 B are indicated by respective arrows.
- the transmission directions DA and DB are parallel to each other
- the plane PA of ultrasonic radiation from the acoustic head 24 A is parallel to the XZ plane
- the plane PB of ultrasonic radiation from the acoustic head 24 B is orthogonal to the XZ plane.
- the acoustic head 24 A and the acoustic head 24 B are not distinguished, and these are simply referred to as the acoustic head 24 .
- the transmission direction DA and the transmission direction DB are not distinguished, and these are simply denoted as transmission directions D.
- the oscillator array of the acoustic head 24 transmits ultrasonic waves laterally to the insertion unit 12 .
- the term “lateral” in this description refers to a direction different from the direction in which the insertion tip portion 20 extends.
- the insertion tip portion 20 extends in the direction of the X axis (front-rear direction), and the “lateral” therefore refers to a direction different from the direction of the X axis (front-rear direction).
- the oscillator array of the acoustic head 24 transmits ultrasonic waves obliquely upward and forward from the surface of the acoustic head 24 .
- the transmission direction D is obliquely upward and forward from the surface of the acoustic head 24 .
- the shaft 22 has a gently curved shape.
- the shaft 22 is curved in the direction opposite to the direction D of ultrasonic wave transmission by the oscillator array of the acoustic head 24 .
- the shaft 22 is curved so that the extension direction from the proximal side to the distal side is curved in the direction opposite to the transmission direction D.
- the transmission direction D is obliquely upward and forward, and the shaft 22 is therefore curved downward.
- the extension direction E 1 in which the proximal end portion of the shaft 22 extends is parallel to the direction of the X axis (front-rear direction); that is, parallel to the direction in which the grip unit 14 extends.
- the ultrasonic wave transmission direction D is upward with respect to the extension direction E 1 , and the shaft 22 curves downward in the opposite direction.
- the extension direction E 2 from the proximal side to the distal side of the distal end portion of the shaft 22 is downward, tilting with respect to the extension direction E 1 in which the proximal end portion extends.
- the angle ⁇ between the extension direction E 1 in which the proximal end portion of the shaft 22 extends and the extension direction E 2 in which the distal end portion of the shaft 22 extends is set according to the anatomical shape of the rectum. To be specific, the angle ⁇ is set to about five to eight degrees. In this embodiment, the angle ⁇ is about six degrees.
- the shaft 22 is curved only downward (toward the negative side with respect to the Z axis) and is not curved in the direction of the Y axis.
- the insertion tip portion 20 connected to the distal end of the shaft 22 extends in a direction curved with respect to the shaft 22 (a direction different from the direction in which the shaft 22 extends).
- the insertion tip portion 20 curves and extends in the direction D of ultrasonic wave transmission from the acoustic head 24 with respect to the shaft 22 .
- the extension direction E 3 in which the insertion tip portion 20 extends curves toward the transmission direction D with respect to the extension direction E 2 in which the distal end portion of the shaft 22 extends. Since the extension direction E 2 is downward on the distal side, the extension direction E 3 curves upward with respect to the extension direction E 2 .
- the inclination of the extension direction E 2 is a negative value in the XZ plane
- “the extension direction E 3 curves in the transmission direction D with respect to the extension direction E 2 ” is rephrased as “the inclination of the extension direction E 3 in the XZ plane is greater than that of the extension direction E 2 .”
- the extension direction E 3 of the insertion tip portion 20 is parallel to the direction of the X axis (front-rear direction); i.e., parallel to the extension direction E 1 in which the proximal end portion of the shaft 22 extends and the direction in which the grip unit 14 extends.
- FIG. 4 is a sagittal section view showing how the insertion unit 12 of the probe 10 is inserted into the rectum R of the subject.
- the shape of the rectum R extending upward from the anus A is slightly curved rearward.
- the shaft 22 is curved to fit in the shape of the rectum R.
- the insertion tip portion 20 having the acoustic head 24 is curved forward with respect to the shaft 22 .
- the direction D of ultrasonic wave transmission from the acoustic head 24 is just toward the prostate P. Therefore, an ultrasonic image of the prostate P can be suitably captured by transmitting and receiving ultrasonic waves through the acoustic head 24 .
- appropriately setting the insertion direction of the needle 34 enables a suitable puncture into the prostate P.
- transrectal ultrasonic probe according to this disclosure is not limited to the aforementioned embodiment, and various modifications can be made without departing from the scope of this disclosure.
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Abstract
Description
Claims (3)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020074581A JP7478581B2 (en) | 2020-04-20 | 2020-04-20 | Transrectal Ultrasound Probe |
JP2020-074581 | 2020-04-20 |
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Publication Number | Publication Date |
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US20210321983A1 US20210321983A1 (en) | 2021-10-21 |
US11766240B2 true US11766240B2 (en) | 2023-09-26 |
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Application Number | Title | Priority Date | Filing Date |
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US17/191,831 Active 2041-07-09 US11766240B2 (en) | 2020-04-20 | 2021-03-04 | Transrectal ultrasonic probe |
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US (1) | US11766240B2 (en) |
JP (1) | JP7478581B2 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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CA2936061A1 (en) | 2014-01-06 | 2015-07-09 | Remendium Labs Llc | System and method for kegel training |
SG11201900783PA (en) | 2016-07-29 | 2019-02-27 | Renovia Inc | Devices, systems, and methods for training pelvic floor muscles |
USD898911S1 (en) * | 2019-04-03 | 2020-10-13 | Renovia Inc. | Intravaginal device assembly |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20130225995A1 (en) * | 2011-10-27 | 2013-08-29 | Olympus Medical Systems Corp. | Ultrasound observation apparatus |
JP2015104602A (en) | 2013-12-02 | 2015-06-08 | 株式会社東芝 | Intracavitary probe and ultrasonic diagnostic device |
US9259208B2 (en) | 2006-03-24 | 2016-02-16 | B-K Medical Aps | Ultrasound probe |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0691886B2 (en) * | 1985-03-18 | 1994-11-16 | 株式会社東芝 | Intracavity probe |
JPH0271732A (en) * | 1988-09-08 | 1990-03-12 | Hitachi Medical Corp | Intra-coelomic probe |
US6261234B1 (en) * | 1998-05-07 | 2001-07-17 | Diasonics Ultrasound, Inc. | Method and apparatus for ultrasound imaging with biplane instrument guidance |
JP2007312798A (en) * | 2006-05-23 | 2007-12-06 | Hitachi Medical Corp | Ultrasonic probe for inside of body cavity |
-
2020
- 2020-04-20 JP JP2020074581A patent/JP7478581B2/en active Active
-
2021
- 2021-03-04 US US17/191,831 patent/US11766240B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9259208B2 (en) | 2006-03-24 | 2016-02-16 | B-K Medical Aps | Ultrasound probe |
US20130225995A1 (en) * | 2011-10-27 | 2013-08-29 | Olympus Medical Systems Corp. | Ultrasound observation apparatus |
JP2015104602A (en) | 2013-12-02 | 2015-06-08 | 株式会社東芝 | Intracavitary probe and ultrasonic diagnostic device |
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JP2021171080A (en) | 2021-11-01 |
US20210321983A1 (en) | 2021-10-21 |
JP7478581B2 (en) | 2024-05-07 |
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